Topics created by frafrat

@frafrat ,

You would need to run voxl-camera-server that comes with SDK 1.2 . You can grab a deb package of recent voxl-camera-server but it has other dependencies, so other packages will need to be updated from sdk 1.2. it could be a mess, but you can try it.

http://voxl-packages.modalai.com/dists/qrb5165/dev/binary-arm64/voxl-camera-server_1.9.0-202403211533_arm64.deb

when you install it, if there are unmet dependencies, dpkg will tell you. and then you will go down the rabbit hole to satisfy those dependencies and installing newer packages (you could do it by updating apt sources to use dev) : modify /etc/apt/sources.list.d/modalai.list to use dev instead of sdk-1.1 (and then apt-get update and then apt-get install <package> to get the newer version. Or you could pull the packages manually from voxl-packages site.

I know for sure there is one dependency that is not in voxl-packages, which is the TOF processing library. I will check how you might be able to get it.

Did you at least try to use the TOF sensor with SDK 1.2?

@frafrat

Hi. The sensor is integrated into the VOXL SDK and raw data can be viewed through ADB or SSH with the voxl-inspect-rangefinders command line tool. All PX4 Autonomy Dev kids have this sensor. That data is sent from qrb5165-rangefinder-server to PX4 via voxl-mavlink-server. To enable in PX4 set the PX4 EKF2_RNG_CTRL param to 1. You will likely need to fiddle with PX4's other rangefinder params to achieve the behavior you want.

Best,
James

@frafrat Try out voxl-configure-cameras 21 which is labeled "old C6"

We screwed up the C6 config when moving from SDK 0.9.5 to SDK 1.0.0

21 should be equivalent to the old 6

Hi @frafrat
It depends on what you have plugged in to the Voxl2 board. It's easy to use an external power supply for a board only setup (no BLDC motors) and run your use cases and read back the current your power supply shows.
We do not do this often since we make a development platform, and all customers use it differently. Moreover, we also do not feel the need to characterize an "idle" state since it is literally a 3rd or 4th order power consumption value compared to any simple actuation (motors or servos). The on-board LEDs are the dominate factor in idle, using about 5mA each at 3.3V and 5V.
My supply, with running nothing and just having an ADB connection pulls about 0.4W, but 0.1W of that is LEDs and I'm positive the rest is power supply efficiency losses, and we do not enter any sleep states especially with keeping ADB up and running the default voxl-suite.
It's likely faster for you to test your setup than to explain to us what your system is and how you wish to use it.
I think one of our SW team members was exploring some of the sleep states, but we just never saw the need to really enter them.
We have many tools in Voxl-suite to monitor running programs, so if you do this, I would recommend trying to understand what is running in "idle" and as you try to disable stuff, you can see the power consumption impact and compare against what functions you need to keep alive for your application.
We cannot share the actual QRB5165 data sheet. Perhaps if you join the Qualcomm Developer Network, you might be able to get some more data directly from there.
If you need further help, please ask.

@Matt-Turi thank you very much. Really appreciate your help 🙂

Hi @frafrat ,

Not yet but we are working on it currently. I don't have a hard date for a release, but the plan so far is to get support onto the QRB5165 platform within the next month or two.

Thanks!
Travis

there is nothing special about the ROS implementation on VOXL. You might look at ROS networking documentation to debug

Thanks a lot! I'll look into that. Thanks again